JP2008220580A - Immersive walking sensation presentation device - Google Patents

Abstract

An object of the present invention is to provide an immersive walking sensation presentation device capable of walking around in a live-action video space such as an actual environment such as a city space or a landscape for walking rehabilitation.
An immersive display device 2 and a walking sensation presentation device 3 are combined, and the immersive display device 2 includes a horizontal 270 ° and vertical 60 ° screen 7 that covers a visual field range of a user 5, and a projection device 8. The walking sensation presentation device 3 presents a motion trajectory of the foot with respect to the foot of the user 5, and includes a footrest 21 having a foot pad for placing the sole of the foot. And a force sensor that detects the force applied to the sole of the foot by weight and the like, and detects the walking state of the user 5 with this force sensor. Based on the detection, the walking motion trajectory of the foot can be controlled.
[Selection] Figure 1

Description

  The present invention relates to an immersive walking sensation presentation device capable of walking around in a video space with his / her foot for rehabilitation of walking.

  In recent years, gait rehabilitation systems include Locomat (see Non-Patent Document 1) and University of Tsukuba's HAL (focusing on the biopotential signal generated when a person tries to exercise, Like a robot suit that amplifies human power as desired (see Non-Patent Document 2), the robot arm is placed along each joint of the foot to determine the movement of all joints, or there is no restriction at all like a treadmill. There is only one.

  In rehabilitation, it is important to train the upper body, especially the hip rotation, in addition to the trajectory of the foot, but these systems are either too restrictive or not constrained because they are not constrained.

  In addition, the Berlin University of Technology has developed a rehabilitation system that determines the trajectory using only the link mechanism for the footrest (see Non-Patent Document 3). Cannot draw. Also, it is not a system that provides feedback by video so that rehabilitation is possible in relation to video.

  In a conventional rehabilitation device, as a walking rehabilitation system in which feedback is performed by video, there is an example using a treadmill (manufactured by Hitachi, Ltd.) such as PW-10 and a small flat display.

  In addition, an image presentation device is associated with an exercise device such as a treadmill or a training bicycle, and the video information presented by the image presentation device changes according to the movement of an exerciser exercising with the exercise device. A kinesthetic experience device is known (see Patent Document 1).

  Furthermore, the present inventors have proposed a virtual walking device that can provide a bodily sensation such as walking and going up and down in a walking environment that interweaves various terrain such as flat ground, slopes, unevenness, inclined surfaces, and steps, and is compact and inexpensive. It has already been proposed (see Patent Document 2).

  Then, a projector that projects projection light toward the inside of the spherical screen, a first reflecting mirror, and a second reflecting mirror that is a convex mirror are arranged, and the projection light from the projector is placed on the entire circumferential surface of the spherical screen. An inventor has already proposed an all-around spherical screen projection apparatus that projects and projects an image full of realism onto the entire circumference of a spherical screen (see Patent Document 3).

JP 2001-129122 A JP 2001-087415 A JP 2000-56415 A http://control.ee.ethz.ch/~ifareg/gait/gait.php http://www.nedo.go.jp/expo2005/robot/prototype/jyutaku013.html http://userpage.fu-berlin.de/~bhesse/e_index.html

  In rehabilitation, it is important to train the rotation of the upper body, especially the hips, in addition to the movement trajectory of the foot, but the system of Non-Patent Documents 1 and 2 is too restrictive, and the restraint force of a simple treadmill Because there is no, you can not train enough. In addition, the devices described in Patent Documents 1 and 2 have a problem that there is no visual presentation or is insufficient, and a lack of walking sensation or a decrease in motivation.

  The present invention realizes a rehabilitation device that solves a problem that has been lacking in conventional rehabilitation devices. For rehabilitation of walking, the present invention is used in a live-action video space such as a real environment such as a landscape. It is an object of the present invention to realize an immersive walking sensation presentation device that can walk around with its legs.

  In order to solve the above-mentioned problem, the present invention is an immersive walking sensation display device that is formed by arranging and combining an immersive display and a walking sensation display device in a space surrounded by the immersive display. A screen that covers a field of view; and a projection device that projects an image on the screen. The walking sensation presentation device presents a motion trajectory of a foot with respect to a user's foot, and the projection device includes the walking sensation. A video that moves in synchronization with the motion trajectory of the foot when simulating walking using a presentation device is projected onto the immersive display, and the user can see the space of the video and the body while on the spot. Provided is an immersive walking sensation presentation device characterized in that a simulated walking experience is possible through the sense received by the user.

  The walking sensation presentation device includes a footrest having a foot pad on which a foot is placed, and the footrest moves in the front and rear and up and down directions and moves along the walking motion trajectory of the foot. It is preferable that the walking motion trajectory can be controlled.

  It is preferable that the footrest of the walking sensation presentation device includes a force sensor that detects a force applied to the sole of the foot by weight or the like, and detects the user's walking state using the force sensor.

  It is preferable that the footrest of the walking sensation presentation device includes a heel raising mechanism that can tilt the heel side upward by an actuator.

  It is preferable that the footrest of the walking sensation presentation device has a configuration in which a toe is movable upward.

  The video projected on the immersive display is a real video or computer graphic video shot by an omnidirectional video camera and edited corresponding to the field of view, and the real video is projected after being stored in real-time or one-end storage means. It is preferable that it is the structure.

  The immersive walking sensation presentation device includes a sensor that senses the movement of the user's body, projects a CG created from the detection data of the sensor on an immersive display, and the user confirms his / her own movement in real time or after training. It is preferable that

According to the present invention, the following effects are produced.
(1) Rehabilitation and health maintenance and enhancement In this immersive walking sensation presentation device, the image projected on the screen that covers most of the user's visual field and the feedback to the foot are interlocked to walk as if in a real environment such as a landscape. It can create a high level of immersive feeling.

  And by using the immersive walking sensation presentation device of the present invention, rehabilitation can be performed with the feeling of walking with your feet in the same way as a healthy person in a town where you live or where you can hardly go. . Also, healthy people can maintain and improve their health by exercising with this immersive walking sensation presentation device.

  Unlike the conventional robot rehabilitation system that links to the joints of the foot, the immersive walking sensation presentation device of the present invention is not restrained except for the upper part of the foot. Is possible.

  In particular, the immersive walking sensation presentation device of the present invention has a free space behind the patient as a structure, it is easy to get on and off the footrest, and the physiotherapist performs the hip rotation from the back This point is very different from conventional rehabilitation equipment, and it is a remarkable effect.

  In the present invention, it is possible to move a footrest (foot pad) along an arbitrary track by using actuators such as a link control motor controlled by a computer, a lifting motor and a lifting motor. Since the timing of the operation can be adjusted by the input of a force sensor attached to the surface of the foot pad under the foot, an operation very close to an actual walking operation can be performed.

(2) Improvement of entertainment characteristics It is possible to apply to a game in which a large space is walked around with a foot in a combat simulator or a role-playing game. In addition, by connecting devices via a network, it is possible to share a space with other players and to walk around a desired space with people at remote locations.

(3) Providing Convenient Means for Spatial Design The system can be applied to a system for confirming the extent of space directly by walking around with one's feet, such as a house floor plan design or a cityscape simulator with civil engineering architecture.

  The best mode for carrying out the immersive walking sensation presentation device according to the present invention will be described below with reference to the drawings based on the embodiments.

  FIG. 1 is a perspective view showing the overall configuration of an immersive walking sensation presentation device according to the present invention. The immersive walking sensation presentation device 1 according to the present invention mainly includes an immersive display device 2, a walking sensation presentation device 3, and a control device 4 (see FIG. 9).

  The immersive display device 2 is a device that projects the state of a space such as a walking landscape. The video projected on the immersive display device 2 is a real video shot by an all-around video shooting device (all-round shooting camera) described later, or a CG video created by computer graphics technology (CG).

  The walking sensation presentation device 3 is a device that moves the foot of the user 5 who performs walking rehabilitation or health maintenance due to some disorder such as a stroke along the motion trajectory of an arbitrary foot such as the motion trajectory of a normal healthy person or the like. .

  Furthermore, you may attach the motion capture 6 to the walking sense presentation apparatus 3 as needed. This motion capture 6 is a device for displaying the position and orientation of the body of the user 5 by using each part of the body of the user as computer graphics. Hereinafter, each said apparatus in the immersive walk sense presentation apparatus 1 which concerns on this invention is explained in full detail.

(Immersive display device)
1 to 3 are diagrams for explaining the immersive display device 2. The immersive display device 2 includes a screen 7 and a projection device 8. The projection device 8 includes a projector 9 and a convex mirror 10 and is controlled by the control device 4.

In the immersive display device 2 of the present embodiment, a configuration in which the projector 9 is used as the projection device will be described. However, a configuration in which a large liquid crystal television is used without using the projector may be used. Various display devices such as a curved display that does not use a projector can also be used.

  The shape of the screen 7 is preferably a spherical surface, but may be a polyhedral screen, a cylindrical screen, or the like as long as the screen covers the visual field range of the user. In the present embodiment, the screen 7 will be described as being composed of a part of the inner surface of the sphere 11 as shown in FIGS. That is, as shown in FIG. 2 (b), the upper and lower portions (portions indicated by imaginary lines) outside the vertical 60 degree region from the center of the sphere 11 are deleted, and as shown in FIG. 2 (a), The spherical body 11 is formed of a curved annular body formed by deleting a portion of the plane 90 degrees behind the spherical body 11.

  The screen 7 is attached to the support frame 7 ′, and is supported above the floor so that the face of the user 5 is almost the same height as the center of the screen 7. The projector 9 can be disposed in an internal space surrounded by the screen 7, and an image can be projected by the projector 9 on the inner surface of the screen 7. This video is a video that moves in synchronization with the motion trajectory of the foot when simulating walking using the walking sensation presentation device 3 described later. FIG.2 (c) is the figure which looked at the screen 7 facing the front.

  Thus, as shown in FIGS. 2 (a) and 2 (c), the screen 7 is 270 degrees horizontal (the portion of the plane 90 degrees in the rear portion has been deleted) and shown in FIG. 2 (b). Thus, it has a vertical viewing angle of 60 degrees, so that most of the human visual field can be covered.

  Since the screen 7 has a 90-degree flat portion removed from the rear portion to form an open portion 12, the user 5 can easily enter and leave the screen 7 through the open portion 12. Furthermore, since the screen 7 is sufficiently open at the top and bottom, a sufficient space for installing the projection device 8 is secured, and if necessary, a band, a harness, or the like that suspends the user 5 during rehabilitation is surrounded by the screen 7 from the ceiling. The degree of freedom of installation of various devices, such as hanging in a space, increases.

  In this embodiment, as shown in FIG. 1 and FIGS. 3A to 3C, there are provided three combinations of the projector 9 and the convex mirror 10 that projects the image of the projector 9 onto the screen 7. The three projectors 9 are arranged at equal intervals in the plane circumferential direction within a range of 270 degrees on the plane of the screen 7. Opposite to the three projectors 9, three convex mirrors 10 are arranged at equal intervals in the plane circumferential direction within a range of 270 degrees of the plane of the screen 7.

  With such a configuration, the three combinations of the projector 9 and the convex mirror 10 project the respective real shot images on the three areas of the screen 7. As a result, a screen having a viewing angle of 270 degrees horizontally and 60 degrees vertically is projected on the screen 7, and this screen has a high resolution. Therefore, the user 5 can receive a feeling as if he / she is immersed in the actual environment by viewing the live-action image projected on the screen 7.

  Since the image projected from the projector 9 is distorted by the convex mirror 10, the image is deformed by texture mapping (texture mapping: a technique of pasting a pattern or pattern on the surface of an object modeled in 3D CG) in advance. The image is formed at the correct position when projected onto the screen 7. Note that the projected image can be not only a live-action image but also a CG image or a synthesized image thereof.

  By the way, the actual image projected by the immersive display device is photographed by the omnidirectional camera 13 as shown in FIG. This all-around photographing camera 13 has a cylindrical case 15 made of, for example, a transparent acrylic material mounted on a base 14, a convex mirror 16 is provided directly on the top, and a CCD camera 17 is provided directly below. Is. The CCD camera 17 may be provided on a wirelessly-controlled mobile carriage so that a live-action image projected by the immersive display device is captured by wireless control.

  The all-around photographing camera 13 can shoot a real image that is a video image of the entire circumference (360 degrees in the horizontal circumferential direction) and about 60 degrees vertically in a horizontal plane. Then, the captured video information is taken into the computer, and the image processing software is used to extract the video of only 270 degrees in the horizontal circumferential direction according to the screen 7, and further divided into three in the horizontal circumferential direction. Edit to information. When these three pieces of video information are projected onto the screen 7 by the three projectors 9, a screen having a viewing angle of 270 degrees horizontally and 60 degrees vertically is projected on the screen 7.

  The above is the case where three pieces of video information are created by one CCD camera 17. Three pieces of video information are previously photographed by three CCD cameras 17, and each of them is displayed on one screen by three projectors 9. 7 may be projected and synthesized to project a live-action image having a viewing angle of 270 degrees horizontally and 60 degrees vertically.

(Walking sensation presentation device)
As shown in FIG. 1, a walking sensation presentation device 3 is installed in an inner space surrounded by a screen 7. 5-7 is a figure for demonstrating the walking sensation presentation apparatus 3. FIG. FIG. 5A shows the overall configuration of the walking sensation presentation device 3. The walking sensation presentation device 3 includes a pair of left and right guide rails 18, a pair of left and right sliding bases 19 that slide in the left and right pair of rails 18 in the front-rear direction, and a pair of left and right link mechanisms 20 that drive the sliding base 19. And a footrest 21 that can move up and down with respect to the sliding table 19.

  As shown in FIG. 5C, the slide table 19 integrally includes a support plate 19 ′ that extends in an inner direction perpendicular to the guide rail 18 below the footrest 21. A rolling roller 50 is provided at the bottom of the support plate 19 'so that it can roll on the floor surface. The support plate 19 ′ has a support function of suppressing a moment in a direction in which the slide base 19 and the footrest 21 are tilted inward.

  As shown in FIGS. 5A and 6A, the link mechanism 20 includes a drive link 23 and a driven link 24 that are pivotally attached to each other by a pivot shaft 22. The base end of the driven link 24 is pivotally attached to the slide base 19.

  The drive shaft 25 fixed to the base end of the drive link 23 is configured to be rotationally driven by a link drive motor 26 through a speed reduction mechanism (not shown) as appropriate. As a result, the drive link 23 rotates (forward and reverse) about the axis of the drive shaft 25. As a result, the slide 19 is slid in the longitudinal direction of the guide rail 18 via the driven link 24.

  Although not shown, the link drive motor 26 may rotate the crankshaft, and the base end of the drive link 23 may be pivotally attached to the crankshaft so that the link mechanism 20 can reciprocate. .

  The slide table 19 is provided with an elevating mechanism 27 for elevating the footrest 21. As shown in FIGS. 5 (a) to 5 (c) and FIG. 6 (a), the elevating mechanism 27 includes a support column 28 erected on the upper surface of the sliding table 19 and an elevating motor 29 provided at the upper end of the support column 28. And a screw shaft 30 that is provided along the support column 28 and rotates about an axis.

  The lifting motor 29 functions as an actuator for the lifting mechanism 27. As shown in FIG. 5C, the footrest 21 has a support base 31 that slides up and down with respect to the column 28 and is screwed with the screw shaft 30. Accordingly, when the lifting motor 26 is driven and the screw shaft 30 rotates, the footrest 21 moves up and down.

  The footrest 21 moves the footrest 21 along a trajectory similar to the movement trajectory of the human foot by moving in the front-rear direction along the guide rail 18 by the link mechanism 20 and by moving up and down by the elevating mechanism 27. can do. The motion trajectory of the footrest 21 simulating the motion trajectory of a healthy person's foot is shown in the table of FIG. In the table of FIG. 6B, the right direction (right direction along the horizontal axis) corresponds to the direction of walking forward. The vertical axis corresponds to the height direction.

  As shown in FIGS. 7A and 7B, the footrest 21 includes a fixed substrate 32 fixedly attached to the support base 31, and the substrate 32 is provided with a lifting mechanism 33. In the lifting mechanism 33, a lifting motor 34 and a speed reduction mechanism 35 are provided on the inner upper surface of the substrate 32, and a tilting intermediate plate 36 is provided on the outer upper surface of the substrate 32. The hoisting motor 34 functions as an actuator for the hoisting mechanism 33.

  A front edge portion of the tilting intermediate plate 36 is fixed to a rotating shaft 37 provided at the front portion of the substrate 32 by a fixing member 38. The rotary shaft 37 is rotated by the lifting motor 34 via the speed reduction mechanism 35, whereby the tilting intermediate plate 36 is tilted together with the rotary shaft 37 so that the rear edge is lifted around the front edge.

  In order to explain the concept of the tilting intermediate plate 36 in an easy-to-understand manner, the lifting mechanism 33 shown in FIG. 7 clearly shows the relationship between the rotation shaft 37 that is the rotation center of the tilting intermediate plate 36 and the user's foot. Absent. In conclusion, if the rotation shaft 37 of the tilting intermediate plate 36 is installed at a position near the base of the thumb of the foot rather than the position of the tip of the toe of the user, it is possible to raise the foot smoothly. The displacement of the fastener is also reduced.

  The installation positions of the tilting intermediate plate 36 and the rotating shaft 37 will be described below with reference to FIG. Here, the foot pad 39 is omitted in order to explain the movement of the tilting intermediate plate 36. The part from the toe to the base (front part 51 of the foot) and the part from the base of the toe to the heel (rear part 52 of the foot) rotate around the joint (schematically indicated by the rotation axis 37). Is possible. This state is schematically shown in FIGS. 8 (a) and 8 (b). When lifting from the state of FIG. 8 (a) during walking, the rotating shaft 3 is centered as shown in FIG. 8 (b). Rotate to.

  With respect to such a lifting operation, as shown in FIGS. 8C and 8D, when the tilting intermediate plate 36 is pivotally attached to the substrate 32 so as to be rotatable toward the tip of the toe, As shown in FIG. 8 (d), the tilting intermediate plate 36 cannot sufficiently follow the sole of the foot, causing an extra burden on the foot and causing problems such as the fastener 53 being displaced with respect to the instep.

  Therefore, as shown in FIGS. 8E and 8F, a rotating shaft 37 is attached to the position of the joint at the base of the finger, and the tilting intermediate plate 36 can be rotated with respect to the substrate 32 around the rotating shaft 37. In this configuration, as shown in FIG. 8 (f), the tilting intermediate plate 36 can rotate to fit the sole and respond to the movement of the foot, so that no extra force is applied to the foot and tightening is performed. Problems such as the tool 53 being displaced with respect to the instep can also be prevented.

  As shown in FIG. 7B, the rear edge portion of the foot pad 39 is pivotally attached to the rear edge portion of the tilting intermediate plate 36 by the hinge 40, and the foot pad 39 is the upper edge portion with respect to the tilting intermediate plate 36. Can be pivoted in the lifting direction. Therefore, when the user's 5 foot is placed on the foot pad 39, the heel is lifted by the tilting of the tilting intermediate plate 36 by the heel lifting motor 34, and the toes can be freely moved upward without being constrained.

  Furthermore, as shown in FIG. 5C, force sensors 41 (for example, strain gauges, load cells, piezoelectric elements, etc.) are attached to the surfaces of the pair of left and right foot pads 39, respectively. The detection output by the force sensor 41 is input to the control device 4 (computer) described later, and the difference in weight applied to the left and right feet can be detected from the detection output of the force sensor 41 of the left and right foot pads 39. In addition, the user 5 can prevent the foot from being removed from the footrest 21 by providing the footpad 39 with the fastener 53 for fixing the foot.

  As shown in FIGS. 1 and 5A, a handrail frame 42 is provided at a position inside the screen 7. When the user 5 uses the immersive walking sensation presentation device 1, the user 5 puts his / her feet on the pair of left and right foot pads 39, but the upper body can be stably held by holding the handrail frame 42. be able to.

(Motion capture)
The motion capture 6 measures the position of each part of the body of the user 5 in real time, and transfers the measurement result to the control device 4 using a computer. It is a device that displays the position and orientation. Specifically, the control device 4 performs drawing according to the drawing software for the immersive display based on the position signal of each part measured by the motion capture 6.

  This is useful for training the correct movement by showing to the user 5 that the body is tilted during walking training, or by allowing the user to move his / her body from an arbitrary viewpoint, unlike a mirror. Play an important role. As shown in FIG. 1A, the motion capture 6 is installed behind the walking sensation presentation device 3, and the measurement is performed by attaching a marker (a reflective marker, a color marker, etc.) to the body of the user 5, The movement is performed by photographing and measuring from behind the user 5 with a video camera (preferably a plurality of cameras). When using a reflective marker, it is preferable to irradiate the user with light from the direction of the camera.

  An image captured by the camera is captured by an image input board (not shown) set in the control device 4 (computer) (see FIG. 9). The control device 4 has three-dimensional coordinate measurement software installed in the memory 46, and can automatically measure a marker from an image captured in the control device 4 to obtain a three-dimensional coordinate value. If three-dimensional analysis software is installed in the memory 46, data such as the speed and distance of the measurement point can be calculated from the three-dimensional coordinate values.

(Control device)
FIG. 9 is a diagram illustrating the control device 4 of the immersive walking sensation presentation device 1 according to the present invention. The control device 4 uses a computer and includes an input unit 44, a CPU 45, a memory 46, a storage device 47, an output unit 48, and the like connected by a data bus 43 as in a normal computer. . The input unit 44 and the output unit 48 may be connected to the Internet.

  An input unit 49 (keyboard or the like), a force sensor 41 of the foot pad 39, a motion capture 6, a CCD camera 17 or the like is connected to the input unit 44 of the control device 4. The output unit 48 is connected to a motor control device 50, a projection device 8 (projector 9), and the like. A link drive motor 26, a lifting motor 29, and a lifting motor 34 are connected to the motor control device 50. Upon receiving a control signal from the control device 4, each of the three motors 26, 29, 34 is started, Controls operations such as stop and rotation speed.

  The memory 46 is loaded with walking sensation presentation software for operating the immersive walking sensation presentation apparatus 1. This walking sensation presentation software provides several operation patterns for the operations of the link drive motor 26, the lift motor 29 and the lifting motor 34.

  Further, according to the walking sensation presentation software, the control device 4 sends a control output signal from its output unit 48 to the motor control device 50 in response to input signals from the force sensor 41, motion capture 6, etc., and the link drive motor 26, The elevating motor 29 and the lifting motor 34 can be operated, and the operation of the immersive display device 2 can be controlled in accordance with the operating state of the walking sensation presentation device 3. That is, the projector 9 projects an image on the screen 7 that moves in synchronization with the motion trajectory of the foot when the user 5 walks in a simulated manner using the walking sensation presentation device 3.

(Function)
A specific operation of the immersive walking sensation presentation device 1 according to the embodiment will be described. The immersive display device 2 displays on the screen 7 a live-action image of a real environment such as a street corner or a rural landscape. And when this person walks in a real environment, this image changes in synchronization with this walking. In accordance with such an image, the user 5 can perform a walking motion with the walking sensation presentation device 3.

  For example, the case where the normal healthy person's walking pattern is selected by the input means 49 is demonstrated. When the walking pattern of the healthy person is selected, the control device 4 executes the control operation so as to perform the following walking pattern operation of the healthy person according to the walking sensation presentation software.

  When the user 5 puts his / her feet on the left / right footrests 21 and performs a walking motion, the link drive motor 26 rotates forward (forward) or reversely (reverses) in each of the left and right foot foot pads 39 in the front-rear direction. ). And the raising / lowering of the foot pads 39 of the left and right feet is caused by the forward rotation (forward movement) or the reverse rotation (backward movement) of the lifting motor 29, respectively. When the foot pad 39 moves back and forth and moves up and down, the footrest 21 moves along the normal movement trajectory of the left and right feet, and when the user 5 puts his / her feet on the left and right footpads 39, he / she walks naturally. The operation can be performed.

  In this case, the operation timing of the link drive motor 26 and the lifting motor 29 is performed as follows. The force applied to the forefoot measured by the force sensor 41 when the foot on which the foot is stepped on (the back foot) and the foot on the opposite side (the forefoot) are landing (at the lowest position of the foot pad) However, when it becomes somewhat larger than the rear foot, the link drive motor 26 and the lifting motor 29 on the side of the foot pad 39 on which the rear foot is placed are operated to advance and raise the foot pad 39 of the rear foot. At the same time, the drive motor on the front foot pad 39 side is operated to move it backward.

  By repeating such a control operation, the user 5 can continue walking. The trajectory presented in FIG. 6B is the movement trajectory of the created foot pad 39 based on the motion trajectory of the healthy person's foot. You can also stop by equalizing the strength of both feet.

  When the upper and lower scales and period of this movement trajectory are changed and input by the input means 49, the walking sensation presentation software receives a walking control signal with the corrected foot movement trajectory from the output unit 48 in accordance with these input signals. The load to the user 5 can be controlled by outputting to the control device 50 and changing the motion trajectory of the foot. The locus data can be selected from various variations such as a walking pattern obtained by correcting a basic healthy person's walking pattern based on the walking data of the person.

  In a normal walking motion, when the foot to be stepped on (the back foot) steps, the heel is lifted with respect to the toes. In contrast, in the footrest 21 of the walking sensation presentation device 3 according to the present invention, the tilting intermediate plate 36 and the foot pad 39 are rotated together with the rotating shaft 37 by the lifting mechanism 34 by the lifting mechanism 33, Since the rear edge is lifted and tilted, the heel and the Achilles tendon are not burdened, and a walking motion similar to a normal walking motion can be performed.

  As described above, the tilting intermediate plate 36 is tilted by the lifting mechanism 33 when the foot (front foot) on the opposite side of the foot to be stepped on (the rear foot) is landed (landing at the lowest position of the foot pad). When the force applied to the forefoot measured by the force sensor 41 is somewhat larger than that of the rear foot, in other words, when the stepping motion is detected, A tilt signal for tilting the plate 36 may be output to the motor control device 50 to start rotation of the lifting motor 34 so that the tilt intermediate plate 36 and the foot pad 39 are tilted.

  In normal walking motion, when the foot is put forward, the toes are slightly raised. In the footrest 21 of the walking sensation presentation device 3 according to the present invention, the rear edge portion of the foot pad 39 is pivotally attached to the tilting intermediate plate 36, so that the toe slightly rises when the foot is put forward. Since the front edge of the foot pad 39 is lifted in conjunction with the movement of the foot pad 39, it is possible to prevent the ankle from being damaged even if the toes are slightly raised.

  In this way, when the toes are raised, the front edge of the foot pad 39 is lifted with respect to the tilting intermediate plate 36. The foot pad 39 is pivotally attached to the tilting intermediate plate 36 so that the toe moves. However, the foot pad 39 may be moved positively with respect to the tilting intermediate plate 36 by an actuator (motor drive).

  As described above, the forefoot measured by the force sensor 41 when the foot (the back foot) to be stepped on and the foot (the front foot) on the opposite side of the foot is landing (at the lowest position of the foot pad) In other words, when the force applied to is increased to some extent than the hind legs, in short, every time the stepping motion is detected, the detection signal is input to the computer.

  The number of detections is calculated per unit time. Actually, for example, the average value of the time intervals of each detection of about three times is calculated per unit time at that moment. Then, the walking speed of the user 5 is calculated by the control device 4 from this and the stride of the user 5 that has been previously input and stored in the control device 4 (computer).

  Alternatively, the motion capture 6 detects the movement of the foot, for example, the movement of the rear foot, and inputs the detection signal to the control device 4 (computer). And it is good also as a structure by which the walking speed of the user 5 is calculated by the control apparatus 4 based on the detection frequency per unit time and the stride of the user 5 previously inputted and stored in the control apparatus 4. .

  In any case, the speed at which the image is projected by the immersive display device 2 is changed according to the walking speed in the walking sensation presentation device 3 of the user 5, and the speed at which the scenery on the live-action video is changed is changed. That is, the projector 9 projects an image on the screen 7 that moves in synchronization with the motion trajectory of the foot when the user 5 walks in a simulated manner using the walking sensation presentation device 3. As a result, it is possible to obtain an immersive walking sensation as if walking at the speed of one's feet in a real environment such as a street corner or countryside.

  The best mode for carrying out the immersive walking sensation presentation device according to the present invention has been described based on the embodiments. However, the present invention is not limited to such embodiments, and It goes without saying that there are various embodiments within the scope of the technical matters described in.

  The immersive walking sensation presentation apparatus according to the present invention has the above-described configuration, and can arbitrarily change the environment such as a landscape on the presented video, and thus can be applied to various industrial fields. Typical examples include the following.

(1) Rehabilitation, health maintenance, and promotion Rehabilitation can be performed naturally while getting the feeling of walking in your own town or a terrible lift at your feet, just like normal people. Healthy people can also maintain and improve their health by exercising with this device. Moreover, it is applicable not only to the flat ground but also to training walking on uneven terrain such as stairs.

  Unlike the conventional robot rehabilitation system that links to the joints of the foot, the point of the immersive walking sensation presentation device according to the present invention is not restrained except for the foot. The point where intervention is possible is mentioned. In addition, by connecting devices via a network, it is possible to walk around in a space with people at remote locations.

(3) Entertainment Applications such as combat simulators and role-playing games can be applied to games where people walk around a wide space with their feet. You can also share space with other players over the network.

(3) Spatial design It can also be applied to systems that confirm the expanse of space directly by walking around with your feet, such as a floor plan design of a house or a cityscape simulator with civil engineering architecture.

It is a perspective view explaining the whole structure of the Example of the immersive walk sense presentation apparatus of this invention. The screen of the Example of this invention is shown, (a) is a top view, (b) is a side view, (c) shows a front view. It is a figure explaining the arrangement | positioning condition of the projector of the Example of this invention, (a) is a top view, (b) is a side view, (c) shows a front view. It is a figure explaining the structure of the perimeter camera for acquiring the real image | video projected in the Example of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the walking sensation presentation apparatus of the Example of this invention, (a) is the whole perspective view seen from the side, (b) is the front view seen from back, (c) is the principal of (b). FIG. BRIEF DESCRIPTION OF THE DRAWINGS It is a figure explaining the walking sense presentation apparatus of the Example of this invention, (a) is a figure which shows typically the side surface of the link mechanism and the raising / lowering mechanism, (b) demonstrates the movement locus | trajectory of a footrest. It is a figure to do. It is a figure explaining the lifting mechanism in the walking sensation presentation apparatus of the Example of this invention, (a) shows the state where the lifting mechanism is not operating, (b) shows the state where the lifting mechanism is operating The state of the foot pad etc. is shown. It is a figure explaining the installation position of the rotating shaft of the tilting intermediate | middle board of the lifting mechanism in the walking sensation presentation apparatus of the Example of this invention. It is a figure explaining the control apparatus of the Example of this invention.

Explanation of symbols

1 Immersive walking sensation presentation device
2 Immersive display device
3 walking sensation presentation device
4 Control device
5 users (users)
6 Motion capture
7 screen 7 'support frame
8 Projector
9 Projector
10 Convex mirror
11 Sphere
12 Rear open part of screen
13 All-round camera
14 base
15 cylinder
16 Convex mirror
17 CCD camera
18 Guide rail
19 Slide table
20 Link mechanism
21 Foot rest
22 Pivoting shaft of drive link and driven link
23 Drive link
24 Followed links
25 Drive link drive shaft
26 Link drive motor
27 Lifting mechanism
28 props
29 Lifting motor
30 Screw shaft
31 Support base
32 substrates
33 Hoisting mechanism
34 Hoisting motor
35 Deceleration mechanism
36 Tilt intermediate plate
37 axis of rotation
38 Fixing member
39 Footpad
40 Hinge
41 Force sensor
42 Handrail frame
43 Data bus
44 Input section
45 CPU
46 memory
47 Storage device
48 Output section
49 Input means
50 Motor control device 51 Front part of foot 52 Rear part of foot 53 Fastener

Claims (7)

An immersive walking sensation display device comprising an immersive display and a walking sensation presentation device arranged and combined in a space surrounded by the immersive display,
The immersive display includes a screen that covers a user's visual field range, and a projection device that projects an image on the screen.
The walking sensation presentation device presents a motion trajectory of a foot with respect to a user's foot,
The projection device projects an image that moves in synchronization with the motion trajectory of the foot when simulating walking using the walking sensation presentation device onto the immersive display,
An immersive walking sensation presentation apparatus characterized in that a user can experience a simulated walking experience through a sense that the user feels the space of the video and the body while being at the place.   The walking sensation presentation device includes a footrest having a foot pad on which a foot is placed, and the footrest moves in the front and rear and up and down directions and moves along the walking motion trajectory of the foot. The immersive walking sensation presentation apparatus according to claim 1, wherein the walking movement trajectory can be controlled.   The footrest device of the walking sensation presentation device includes a force sensor that detects a force applied to the sole by weight or the like, and detects the walking state of the user by the force sensor. An immersive walking sensation display device according to claim 1.   4. The immersive walking sensation presentation apparatus according to claim 1, wherein the footrest of the walking sensation presentation apparatus includes a heel raising mechanism whose heel side can be tilted upward by an actuator.   5. The immersive walking sensation presentation apparatus according to claim 1, wherein a toe of the walking sensation presentation apparatus has a configuration in which a toe is movable upward. The image projected on the immersive display is a live-action image or a computer graphic image that has been shot by an omnidirectional image capturing device and edited to correspond to the field of view.
The immersive walking sensation presentation apparatus according to claim 1, wherein the photographed image is configured to be projected after being stored in real time or one-end storage means.   The immersive walking sensation presentation device includes a sensor that senses the movement of the user's body, projects a CG created from the detection data of the sensor on an immersive display, and the user confirms his / her own movement in real time or after training. The immersive walking sensation presentation apparatus according to claim 1, wherein the immersive walking sensation presentation apparatus is provided.

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